dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily

This commit is contained in:
Daniel Agar 2021-04-23 15:38:34 -04:00
parent d1cd4904dc
commit 3f3836afa8
8 changed files with 43 additions and 95 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/lib/parameters/flashparams/flashparams.cpp
View File

@ -187,18 +187,14 @@ out:
return result;
}
struct param_import_state {
bool mark_saved;
};
static int
param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
param_import_callback(bson_decoder_t decoder, bson_node_t node)
{
float f;
int32_t i;
void *v = nullptr;
int result = -1;
struct param_import_state *state = (struct param_import_state *)priv;
/*
* EOO means the end of the parameter object. (Currently not supporting
@ -255,7 +251,7 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
goto out;
}
if (param_set_external(param, v, state->mark_saved, true)) {
if (param_set_external(param, v, true, true)) {
debug("error setting value for '%s'", node->name);
goto out;
}
@ -268,23 +264,20 @@ out:
}
static int
param_import_internal(bool mark_saved)
param_import_internal()
{
bson_decoder_s decoder{};
int result = -1;
struct param_import_state state;
uint8_t *buffer = 0;
size_t buf_size;
parameter_flashfs_read(parameters_token, &buffer, &buf_size);
if (bson_decoder_init_buf(&decoder, buffer, buf_size, param_import_callback, &state)) {
if (bson_decoder_init_buf(&decoder, buffer, buf_size, param_import_callback)) {
debug("decoder init failed");
goto out;
}
state.mark_saved = mark_saved;
do {
result = bson_decoder_next(&decoder);
@ -307,10 +300,10 @@ int flash_param_save(param_filter_func filter)
int flash_param_load()
{
param_reset_all();
return param_import_internal(true);
return param_import_internal();
}
int flash_param_import()
{
return param_import_internal(true);
return param_import_internal();
}

3
src/lib/parameters/param.h
View File

@ -330,11 +330,10 @@ __EXPORT int param_export(int fd, param_filter_func filter);
* This function merges the imported parameters with the current parameter set.
*
* @param fd File descriptor to import from (-1 selects the FLASH storage).
* @param mark_saved Whether to mark imported parameters as already saved
* @return Zero on success, nonzero if an error occurred during import.
* Note that in the failure case, parameters may be inconsistent.
*/
__EXPORT int param_import(int fd, bool mark_saved);
__EXPORT int param_import(int fd);
/**
* Load parameters from a file.

86
src/lib/parameters/parameters.cpp
View File

@ -1222,7 +1222,7 @@ int param_save_default()
} else {
param_lock_writer();
perf_begin(param_export_perf);
res = flash_param_save(false, nullptr);
res = flash_param_save(nullptr);
params_unsaved.reset();
perf_end(param_export_perf);
param_unlock_writer();
@ -1402,19 +1402,9 @@ out:
return result;
}
struct param_import_state {
bool mark_saved;
};
static int
param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
param_import_callback(bson_decoder_t decoder, bson_node_t node)
{
float f = 0.0f;
int32_t i = 0;
void *v = nullptr;
int result = -1;
param_import_state *state = (param_import_state *)priv;
/*
* EOO means the end of the parameter object. (Currently not supporting
* nested BSON objects).
@ -1426,10 +1416,7 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
param_modify_on_import(node);
/*
* Find the parameter this node represents. If we don't know it,
* ignore the node.
*/
// Find the parameter this node represents. If we don't know it, ignore the node.
param_t param = param_find_no_notification(node->name);
if (param == PARAM_INVALID) {
@ -1437,59 +1424,42 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
return 1;
}
/*
* Handle setting the parameter from the node
*/
// Handle setting the parameter from the node
switch (node->type) {
case BSON_INT32: {
if (param_type(param) != PARAM_TYPE_INT32) {
if (param_type(param) == PARAM_TYPE_INT32) {
int32_t i = node->i32;
param_set_internal(param, &i, true, true);
PX4_DEBUG("Imported %s with value %d", param_name(param), i);
} else {
PX4_WARN("unexpected type for %s", node->name);
result = 1; // just skip this entry
goto out;
}
i = node->i32;
v = &i;
PX4_DEBUG("Imported %s with value %d", param_name(param), i);
}
break;
case BSON_DOUBLE: {
if (param_type(param) != PARAM_TYPE_FLOAT) {
if (param_type(param) == PARAM_TYPE_FLOAT) {
float f = node->d;
param_set_internal(param, &f, true, true);
PX4_DEBUG("Imported %s with value %f", param_name(param), (double)f);
} else {
PX4_WARN("unexpected type for %s", node->name);
result = 1; // just skip this entry
goto out;
}
f = node->d;
v = &f;
PX4_DEBUG("Imported %s with value %f", param_name(param), (double)f);
}
break;
default:
PX4_ERR("%s unrecognised node type %d", node->name, node->type);
result = 1; // just skip this entry
goto out;
PX4_ERR("import: unrecognised node type for '%s'", node->name);
}
if (param_set_internal(param, v, state->mark_saved, true)) {
PX4_DEBUG("error setting value for '%s'", node->name);
goto out;
}
/* don't return zero, that means EOF */
result = 1;
out:
return result;
// don't return zero, that means EOF
return 1;
}
static int
param_dump_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
param_dump_callback(bson_decoder_t decoder, bson_node_t node)
{
switch (node->type) {
case BSON_EOO:
@ -1521,15 +1491,12 @@ param_dump_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
}
static int
param_import_internal(int fd, bool mark_saved)
param_import_internal(int fd)
{
for (int attempt = 1; attempt < 5; attempt++) {
bson_decoder_s decoder{};
param_import_state state;
if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state) == 0) {
state.mark_saved = mark_saved;
if (bson_decoder_init_file(&decoder, fd, param_import_callback) == 0) {
int result = -1;
do {
@ -1564,13 +1531,13 @@ param_import_internal(int fd, bool mark_saved)
}
int
param_import(int fd, bool mark_saved)
param_import(int fd)
{
if (fd < 0) {
return flash_param_import();
}
return param_import_internal(fd, mark_saved);
return param_import_internal(fd);
}
int
@ -1581,16 +1548,15 @@ param_load(int fd)
}
param_reset_all_internal(false);
return param_import_internal(fd, true);
return param_import_internal(fd);
}
int
param_dump(int fd)
{
bson_decoder_s decoder{};
param_import_state state;
if (bson_decoder_init_file(&decoder, fd, param_dump_callback, &state) == 0) {
if (bson_decoder_init_file(&decoder, fd, param_dump_callback) == 0) {
PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
int result = -1;

9
src/lib/parameters/tinybson/tinybson.cpp
View File

@ -115,11 +115,10 @@ read_double(bson_decoder_t decoder, double *d)
}
int
bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *priv)
bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback)
{
decoder->fd = fd;
decoder->callback = callback;
decoder->priv = priv;
decoder->nesting = 1;
decoder->node.type = BSON_UNDEFINED;
@ -135,8 +134,7 @@ bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback cal
}
int
bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback,
void *priv)
bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback)
{
/* argument sanity */
if ((buf == nullptr) || (callback == nullptr)) {
@ -157,7 +155,6 @@ bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_
decoder->bufpos = 0;
decoder->callback = callback;
decoder->priv = priv;
decoder->nesting = 1;
decoder->pending = 0;
decoder->node.type = BSON_UNDEFINED;
@ -318,7 +315,7 @@ bson_decoder_next(bson_decoder_t decoder)
}
/* call the callback and pass its results back */
return decoder->callback(decoder, decoder->priv, &decoder->node);
return decoder->callback(decoder, &decoder->node);
}
int

10
src/lib/parameters/tinybson/tinybson.h
View File

@ -101,7 +101,7 @@ typedef struct bson_decoder_s *bson_decoder_t;
*
* The node callback function's return value is returned by bson_decoder_next.
*/
typedef int (* bson_decoder_callback)(bson_decoder_t decoder, void *priv, bson_node_t node);
typedef int (* bson_decoder_callback)(bson_decoder_t decoder, bson_node_t node);
struct bson_decoder_s {
/* file reader state */
@ -114,7 +114,6 @@ struct bson_decoder_s {
bool dead{false};
bson_decoder_callback callback;
void *priv{nullptr};
unsigned nesting{0};
struct bson_node_s node {};
int32_t pending{0};
@ -136,10 +135,9 @@ struct bson_decoder_s {
* @param decoder Decoder state structure to be initialised.
* @param fd File to read BSON data from.
* @param callback Callback to be invoked by bson_decoder_next
* @param priv Callback private data, stored in node.
* @return Zero on success.
*/
__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *priv);
__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback);
/**
* Initialise the decoder to read from a buffer in memory.
@ -150,11 +148,9 @@ __EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder
* passed as zero if the buffer size should be extracted from the
* BSON header only.
* @param callback Callback to be invoked by bson_decoder_next
* @param priv Callback private data, stored in node.
* @return Zero on success.
*/
__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback,
void *priv);
__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback);
/**
* Process the next node from the stream and invoke the callback.

5
src/systemcmds/param/param.cpp
View File

@ -529,11 +529,8 @@ do_load(const char *param_file_name)
static int
do_import(const char *param_file_name)
{
bool mark_saved = false;
if (param_file_name == nullptr) {
param_file_name = param_get_default_file();
mark_saved = true; // if imported from default storage, mark as saved
}
int fd = -1;
@ -549,7 +546,7 @@ do_import(const char *param_file_name)
PX4_INFO("importing from '%s'", param_file_name);
}
int result = param_import(fd, mark_saved);
int result = param_import(fd);
if (fd >= 0) {
close(fd);

4
src/systemcmds/tests/test_bson.cpp
View File

@ -96,7 +96,7 @@ encode(bson_encoder_t encoder)
}
static int
decode_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
decode_callback(bson_decoder_t decoder, bson_node_t node)
{
unsigned len;
@ -287,7 +287,7 @@ test_bson(int argc, char *argv[])
}
/* now test-decode it */
if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, nullptr)) {
if (bson_decoder_init_buf(&decoder, buf, len, decode_callback)) {
PX4_ERR("FAIL: bson_decoder_init_buf");
return 1;
}

2
src/systemcmds/tests/test_parameters.cpp
View File

@ -561,7 +561,7 @@ bool ParameterTest::exportImportAll()
return false;
}
result = param_import(fd, false);
result = param_import(fd);
close(fd);
if (result < 0) {